Research Papers

Two-Configuration Synthesis of Origami-Guided Planar, Spherical and Spatial Revolute–Revolute Chains

[+] Author and Article Information
Kassim Abdul-Sater

Research Scientist
e-mail: kassim.abdul-sater@tum.de

Franz Irlinger

Academic Director
e-mail: irlinger@tum.de

Tim C. Lueth

e-mail: Tim.lueth@tum.de
Institute of Micro Technology and Medical Device Technology,
Faculty of Mechanical Engineering,
Technische Universität München,
Garching 85748, Germany

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received August 9, 2012; final manuscript received April 25, 2013; published online June 10, 2013. Assoc. Editor: Andrew P. Murray.

J. Mechanisms Robotics 5(3), 031005 (Jun 24, 2013) (10 pages) Paper No: JMR-12-1114; doi: 10.1115/1.4024472 History: Received August 09, 2012; Revised April 25, 2013

This paper presents a topological and dimensional kinematic synthesis methodology that can be used to constrain the movement of kinematic planar, spherical, and spatial revolute–revolute dyads (RR dyads). The approach is inspired by a subcategory of origami called rigid origami, which deals with highly overconstrained spatial deployable linkages. An example is the Miura-ori folding pattern used to deploy solar panels in space. In addition to this application, this linkage also provides an interesting way to constrain general RR dyads so that they perform a single DOF motion. Here, these mechanisms are called origami-guided RR chains, and computer aided design models (CAD) of the planar, spherical and spatial type are presented. The dimensional synthesis approach allows us to constrain consecutive links using R or C joints so that the links satisfy two arbitrarily predefined task positions. This leads to what we call the two-configuration synthesis of linkages, and we examine a concrete synthesis procedure for an origami-guided spatial RR chain, which is also built using rapid prototyping. The procedure actually combines the two-configuration synthesis approach with the synthesis of the spatial TS dyad, and the paper provides an outlook on further ways to apply the two-configuration synthesis and also to synthesize the origami-guided RR chains.

Copyright © 2013 by ASME
Topics: Linkages , Chain , Rotation
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Grahic Jump Location
Fig. 1

The Miura-ori folding pattern built from MSV

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Fig. 4

Mechanism equivalent of the MSV linkage

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Fig. 5

Mechanism equivalent of the MDV, representing the origami-guided planar RR chain

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Fig. 6

The origami-guided spherical and spatial RR chain

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Fig. 7

Cylindrical joint axes allowing a connection of two bodies in two arbitrarily predefined positions

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Fig. 3

Rotation sequence of M2

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Fig. 9

A TS dyad synthesized in a reference configuration 1 to satisfy two predefined spatial positions of the frame M"'

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Fig. 8

Nonflat MSV mechanism equivalent synthesized from the two-configuration approach

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Fig. 11

CAD design of the RR chain in configuration 1 obtained from the transformation of the TS chain

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Fig. 10

Rotation sequence to describe the spatial position M" 1

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Fig. 12

Origami-guided spatial RR chain reaching the two positions

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Fig. 13

RP model of the origami-guided spatial RR chain



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